Configure RevPi Gate for CANopen

To configure the gateway component, you have to perform the appropriate settings in the standard objects with the configuration software of your CANopen Master.

You can structure process data exchanged between the gateways application-specifically on the CANopen side using the process data object. For this purpose, CANopen uses mapping objects addressed via index and subindex

The gateway component supports the objects listed below. They comply with the specification DS302 (Version 4.02) of the CiA.

Extract from the specification DS302 (Version 4.02)

Index

Object Name

Sub-Index

Description

Data Type

Access

Comment

1000h

Device Type

00h

Device Type

U32

RO

0000 0000h (No profile)

1001h

Error register

00h

Error register

U8

RO

1003h

Pre-defined error field

00h

Number of errors

U8

RW

01h… 08h

Error field

U32

RO

1005h

COB-ID Sync

00h

COB-ID Sync

U32

RW

Default value is 0000 0080h

1006h

Communication cycle period

00h

Defines the sync intervall

U32

RW

Default value is 0000 0000h

1008h

Manufacturer device name

00h

Manufacturer device name

Visible string

RO

„KUNBUS-GW CANopen“

1009h

Manufacturer hardware version

00h

Manufacturer hardware version

Visible string

RO

1.0

100Ah

Manufacturer software version

00h

Manufacturer software version

Visible string

RO

1.0

100Ch

Guard time

00h

Guard time

U16

RW

100Dh

Life time factor

00h

Life time factor

U8

RW

1010h

Store Parameters

00h

Largest sub index supported

U8

RO

01h

01h

Save all parameters

U32

RW

Baud rate and Node ID cannot be stored using this command.

1011h

Restore parameters

00h

Largest sub index supported

U8

RO

01h

01h

Restore all default parameters

U32

RW

1014h

COB ID EMCY

00h

COB ID EMCY

U32

RO

Default value is 80h + Node-ID

1015h

Inhibit Time EMCY

00h

Inhibit Time EMCY

U16

RW

Default value is 0000h

1016h

Consumer Heartbeat Time

00h

Number of entries

U8

RO

01h

01h

Consumer Heartbeat Time

U32

RW

Node ID + Heartbeat Time. Value must be a multiple of 1ms.

Default value is 0000h

1017h

Producer Heartbeat Time

00h

Producer Heartbeat Time

U16

RW

Default value is 0000h

1018h

Identity object

00h

Number of entries

U8

RO

04h

01h

Vendor ID

U32

RO

000002D5h

02h

Product Code

U32

RO

71

03h

Revision Number

U32

RO

00010000h

04h

Serial Number

U32

RO

1400h

…

1407h

Receive PDO parameter

00h

Largest sub-index supported

U8

RO

02h

01h

COB ID used by PDO

U32

RW

02h

Transmission type

U8

RW

1600h

…

1607h

Receive PDO mapping

00h

No. of mapped application objects in PDO

U8

RW

01h

Mapped object #1

U32

RW

02h

Mapped object #2

U32

RW

03h

Mapped object #3

U32

RW

04h

Mapped object #4

U32

RW

05h

Mapped object #5

U32

RW

06h

Mapped object #6

U32

RW

07h

Mapped object #7

U32

RW

08h

Mapped object #8

U32

RW

1800h

…

1807h

Transmit PDO

parameter

00h

Largest sub-index supported

U8

RO

05h

01h

COB ID used by PDO

U32

RW

02h

Transmission type

U8

RW

03h

Inhibit time

U16

RW

05h

Event Timer (ms)

U16

RW

1A00h

…

1A07h

Transmit PDO mapping

00h

No. of mapped application objects in PDO

U8

RW

01h

Mapped object #1

U32

RW

02h

Mapped object #2

U32

RW

03h

Mapped object #3

U32

RW

04h

Mapped object #4

U32

RW

05h

Mapped object #5

U32

RW

06h

Mapped object #6

U32

RW

07h

Mapped object #7

U32

RW

08h

Mapped object #8

U32

RW

Fieldbus Output Data (Direction Master)

With these objects you can read process data that the gateway component sends to the Master. You have 3 possible access types:

Byte

Word

Doubleword

Index

Object Name

Sub-Index

Description

Data Type

Access

Remark

2000h

Output Buffer

00h

Number of entries

U8

RO

Access type: Byte

01h

Output Buffer Byte #0

U8

RO

02h

Output Buffer Byte #1

…

…

80h

Output Buffer Byte #127

2001h

Output Buffer

00h

Number of entries

U8

RO

01h

Output Buffer Byte #128

U8

RO

02h

Output Buffer Byte #129

…

…

80h

Output Buffer Byte #255

2002h

Output Buffer

00h

Number of entries

U8

RO

01h

Output Buffer Byte #256

U8

RO

02h

Output Buffer Byte #257

…

…

80h

Output Buffer Byte #383

2003h

Output Buffer

00h

Number of entries

U8

RO

01h

Output Buffer Byte #384

U8

RO

02h

Output Buffer Byte #385

…

…

80h

Output Buffer Byte #511

2010h

Output Buffer

00h

Number of entries

U8

RO

Access type: Word

01h

Output Buffer Word #0

U16

RO

02h

Output Buffer Word #1

…

…

40h

Output Buffer Word #63

2011h

Output Buffer

00h

Number of entries

U8

RO

01h

Output Buffer Word #64

U16

RO

02h

Output Buffer Word #65

…

…

40h

Output Buffer Word #127

2012h

Output Buffer

00h

Number of entries

U8

RO

Access type: Word

01h

Output Buffer Word #128

U16

RO

02h

Output Buffer Word #129

…

…

40h

Output Buffer Word #191

2013h

Output Buffer

00h

Number of entries

U8

RO

01h

Output Buffer Word #192

U16

RO

02h

Output Buffer Word #193

…

…

40h

Output Buffer Word #255

2020h

Output Buffer

00h

Number of entries

U8

RO

Access type: Doubleword

01h

Output Buffer DWord #0

U32

RO

02h

Output Buffer DWord #1

…

…

20h

Output Buffer DWord #31

2021h

Output Buffer

00h

Number of entries

U8

RO

01h

Output Buffer DWord #32

U32

RO

02h

Output Buffer DWord #33

…

…

20h

Output Buffer DWord #63

2022h

Output Buffer

00h

Number of entries

U8

RO

Access type: Doubleword

01h

Output Buffer DWord #64

U32

RO

02h

Output Buffer DWord #65

…

…

20h

Output Buffer DWord #95

2023h

Output Buffer

00h

Number of entries

U8

RO

01h

Output Buffer DWord #96

U32

RO

02h

Output Buffer DWord #97

…

…

20h

Output Buffer DWord #127

2200h

Properties of the partner gateway component

00h

Number of entries

U8

RO

01h

Input size

U16

RO

02h

Output size

U16

RO

03h

Module type

U16

RO

71

04h

Fieldbus state

U8

RO

s. Table Fieldbus Status

Fieldbus status

Value

Meaning

0x00

Fieldbus not connected. Check all connections

0x01

Fieldbus connected, no data communication. Check whether a node ID is set

0x02

Gateway component configured, no data communication

0x03

Cyclical data exchange

Fieldbus Input Data (from the Master)

With these objects you can read process data that the CANopen-Master sends to the gateway component. You have 3 possible access types:

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